gsp_thread.h
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00001 /*****************************************************************
00002  *
00003  * This file is part of the GMAPPING project
00004  *
00005  * GMAPPING Copyright (c) 2004 Giorgio Grisetti, 
00006  * Cyrill Stachniss, and Wolfram Burgard
00007  *
00008  * This software is licensed under the "Creative Commons 
00009  * License (Attribution-NonCommercial-ShareAlike 2.0)" 
00010  * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, 
00011  * and Wolfram Burgard.
00012  * 
00013  * Further information on this license can be found at:
00014  * http://creativecommons.org/licenses/by-nc-sa/2.0/
00015  * 
00016  * GMAPPING is distributed in the hope that it will be useful,
00017  * but WITHOUT ANY WARRANTY; without even the implied 
00018  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00019  * PURPOSE.  
00020  *
00021  *****************************************************************/
00022 
00023 
00024 #ifndef GSP_THREAD_H
00025 #define GSP_THREAD_H
00026 
00027 #include <unistd.h>
00028 #include <pthread.h>
00029 #include <deque>
00030 #include <fstream>
00031 #include <iostream>
00032 #include <log/carmenconfiguration.h>
00033 #include <log/sensorstream.h>
00034 #include <gridfastslam/gridslamprocessor.h>
00035 
00036 using namespace std;
00037 using namespace GMapping;
00038 
00039 
00040 #define MAX_STRING_LENGTH 1024
00041 
00042 
00043 struct GridSlamProcessorThread : public GridSlamProcessor {
00044                 struct Event{
00045                         virtual ~Event();
00046                 };
00047                 
00048                 struct ParticleMoveEvent: public Event{
00049                         bool scanmatched;
00050                         double neff;
00051                         std::vector<OrientedPoint> hypotheses;
00052                         std::vector<double> weightSums;
00053                 };
00054                 
00055                 struct TruePosEvent : public Event{
00056                         OrientedPoint pose;
00057                 };
00058                 
00059                 struct ResampleEvent: public Event{
00060                         std::vector<unsigned int> indexes;
00061                 };
00062                 
00063                 struct MapEvent: public Event{
00064                         ScanMatcherMap* pmap;
00065                         unsigned int index;
00066                         OrientedPoint pose;
00067                         virtual ~MapEvent();
00068                 };
00069                 
00070                 struct DoneEvent: public Event{
00071                 };
00072                 
00073                 typedef deque<Event*> EventDeque;
00074                 
00075                 GridSlamProcessorThread();
00076                 ~GridSlamProcessorThread();     
00077                 int init(int argc, const char * const * argv);
00078                 int loadFiles(const char * fn=0);
00079                 static void * fastslamthread(GridSlamProcessorThread* gpt);
00080                 std::vector<OrientedPoint> getHypotheses();
00081                 std::vector<unsigned int> getIndexes();
00082                 
00083                 EventDeque getEvents();
00084                 
00085                 void start();
00086                 void stop();
00087                 
00088                 virtual void onOdometryUpdate();
00089                 virtual void onResampleUpdate();
00090                 virtual void onScanmatchUpdate();
00091                 
00092                 virtual void syncOdometryUpdate();
00093                 virtual void syncResampleUpdate();
00094                 virtual void syncScanmatchUpdate();
00095                 
00096                 void setEventBufferSize(unsigned int length);
00097                 inline void setMapUpdateTime(unsigned int ut) {mapUpdateTime=ut;}
00098                 inline bool isRunning() const {return running;}
00099                 OrientedPoint boundingBox(SensorLog* log, double& xmin, double& ymin, double& xmax, double& ymax) const;
00100         private:
00101                 
00102                 void addEvent(Event *);
00103                 EventDeque eventBuffer;
00104                 
00105                 unsigned int eventBufferLength;
00106                 unsigned int mapUpdateTime;
00107                 unsigned int mapTimer;
00108                 
00109                 //thread interaction stuff
00110                 std::vector<OrientedPoint> hypotheses;
00111                 std::vector<unsigned int> indexes;
00112                 std::vector<double> weightSums;
00113                 pthread_mutex_t hp_mutex, ind_mutex, hist_mutex;
00114                 pthread_t gfs_thread;
00115                 bool running;
00116                 
00117                 //This are the processor parameters
00118                 std::string filename;
00119                 std::string outfilename;
00120 
00121                 double xmin;
00122                 double ymin;
00123                 double xmax;
00124                 double ymax;
00125                 bool autosize;
00126                 double delta;
00127                 double resampleThreshold;
00128                 
00129                 //scan matching parameters
00130                 double sigma;
00131                 double maxrange;
00132                 double maxUrange;
00133                 double regscore;
00134                 double lstep;
00135                 double astep;
00136                 int kernelSize;
00137                 int iterations;
00138                 double critscore;
00139                 double maxMove;
00140                 unsigned int lskip;
00141 
00142                 //likelihood
00143                 double lsigma;
00144                 double ogain;
00145                 double llsamplerange, lasamplerange;
00146                 double llsamplestep, lasamplestep;
00147                 double linearOdometryReliability;
00148                 double angularOdometryReliability;
00149                 
00150         
00151                 //motion model parameters
00152                 double srr, srt, str, stt;
00153                 //particle parameters
00154                 int particles;
00155                 bool skipMatching;
00156                 
00157                 //gfs parameters
00158                 double angularUpdate;
00159                 double linearUpdate;
00160         
00161                 //robot config
00162                 SensorMap sensorMap;
00163                 //input stream
00164                 InputSensorStream* input;
00165                 std::ifstream plainStream;
00166                 bool readFromStdin;
00167                 bool onLine;
00168                 bool generateMap;
00169                 bool considerOdometryCovariance;
00170                 unsigned int randseed;
00171                 
00172                 //dirty carmen interface
00173                 const char* const * m_argv;
00174                 unsigned int m_argc;
00175                 
00176 };
00177 #endif


openslam_gmapping
Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Thu Jun 6 2019 19:25:13